WO2018158097A1 - Système de raccordement - Google Patents

Système de raccordement Download PDF

Info

Publication number
WO2018158097A1
WO2018158097A1 PCT/EP2018/053981 EP2018053981W WO2018158097A1 WO 2018158097 A1 WO2018158097 A1 WO 2018158097A1 EP 2018053981 W EP2018053981 W EP 2018053981W WO 2018158097 A1 WO2018158097 A1 WO 2018158097A1
Authority
WO
WIPO (PCT)
Prior art keywords
coupling
coupling element
connection system
elements
functional
Prior art date
Application number
PCT/EP2018/053981
Other languages
German (de)
English (en)
Inventor
Viktor DEISTER
Franz Markus OESTREICH
Original Assignee
Eisele Pneumatics Gmbh & Co. Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eisele Pneumatics Gmbh & Co. Kg filed Critical Eisele Pneumatics Gmbh & Co. Kg
Publication of WO2018158097A1 publication Critical patent/WO2018158097A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0033—Means for supplying energy to the end effector arranged within the different robot elements with axial connectors in end effector flange
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L39/00—Joints or fittings for double-walled or multi-channel pipes or pipe assemblies

Definitions

  • the invention relates to a connection system, provided for a transmission process of energy, medium and / or information between a functional part with controllable functional elements and a movable guide part of a controllable handling device, preferably in the form of a robot or a manipulator, with a arranged between the functional and guide part coupling device with at least two coupling elements, of which one coupling element is assigned to the functional part and the other coupling element is assigned to the guide part.
  • Handling devices with interchangeable functional parts are state of the art
  • a supply device for the transmission of energy, medium and / or information has a corresponding number of supply or transmission lines. Due to the structural design of the handling device, these lines at defined interfaces, in particular for connecting a functional part to a guide part, interrupted.
  • an associated connection system is such to design that both a mechanically fixed connection between the two parts of the manipulator connected to one another and an undisturbed transmission of energy, medium and / or information are ensured at the respective interface.
  • connection system of the aforementioned type is known for example from DE 202014010032 U1.
  • the known connection system is designed as a robot joint with a first joint element and a second joint element, which is arranged to be movable relative to the first joint element about an axis of rotation.
  • a coupling for transmitting energy by induction between the first and second hinge elements is ensured by an optical fiber for transmitting optical signals between the first and second hinge elements, the optical fiber having an interruption at the transition from the first hinge element to the second hinge element.
  • the interruption is advantageous at the transition from the first joint element to the second joint element, ie in the interface between the joint elements.
  • the hinge elements can be moved relative to each other without being restricted in movement by the optical fiber for transmitting the signals.
  • the signal transmission is not impaired by the movement of the joint elements.
  • the known connection system provides no solution, flowing, requiring a continuous line medium, such as fluid, at the Thomasl. Transfer point.
  • the object of the invention is to provide a connection system which permits uninterrupted transmission of energy, um and / or information under Kunststoff most kind between a functional part and a guide part allows to a Thomasstel le.
  • connection system which has the features of patent claim 1 in its entirety. Characterized in that the coupling elements in a detachable manner via a coupling device are coupled to each other such that in the coupled state guided in a coupling element socket and / or plug parts for the transmission process are engaged with assignable plug or socket parts of the other coupling element and that the plug and socket parts are inserted through openings in the base body of each assignable coupling element, defined transmission lines between the functional part and the guide part, which are connected to one another via the connection system at a defined interface, set.
  • the base body of the respective coupling element is rotationally symmetrical and the openings are introduced as circular passage openings in surface sections of one of the end sides of the respective coupling element.
  • connection system a coupling element with the functional part and the other coupling element with the guide part are in each case firmly connected by a pair of mutually associated coupling elements by means of a fastening device. the.
  • the coupling device by way of which a fixed mechanical bond can be produced between the two coupling elements, is advantageously arranged on a coupling element forming the connection system.
  • the coupling device can be manufactured as a separate component and be arranged during the assembly process on the interconnected coupling elements in order to couple them together.
  • the fixation of the two coupling elements is selected via the coupling device to allow the fastest possible closing and releasing the connection between the two coupling elements when connecting, especially when changing the functional part on the guide part.
  • connection system In a preferred embodiment of the connection system according to the invention, a predeterminable mounting position between the functional part and the guide part in each displacement position of the guide part is maintained via the two coupling elements of a pair. This ensures secure positioning and operation of the functional part moved over the guide part and fastened and activated via the connection system during operation of an associated handling device.
  • the connection system according to the invention ensures both a position-secure attachment of the functional part on the guide part and a trouble-free control and thus operation of the functional part.
  • the one coupling element is designed as a plug with at least one plug part with the other designed as a socket with at least one socket part coupling element is engaged, and that the pertinent engagement position by means of the coupling device, preferably in the form of a union nut, is secured.
  • Each plug part is assigned a socket part, so that in the engaged position of the respective plug part in the respective socket part, a transmission line is formed by the guide part to the functional part.
  • the respective supply line connects to the associated plug or socket part.
  • a combination of male and female parts can be arranged on the respective coupling element, wherein the arrangements are selected on the paired coupling elements such that when connecting the two coupling elements in each case a plug part is inserted into a socket part.
  • the two coupling elements of a pair are each rotationally symmetrical to a coupling axis, along which they can be coupled in a detachable manner.
  • a coupling device in the form of a union nut can be produced in a simple manner and attached to a preferably rotationally symmetrical coupling element in a simple manner.
  • a coupling element with a predetermined axial distance at least in the region of its junction, such as line connector, on the supply lines for the transmission of energy, medium and / or information can be connected.
  • the respective fastening device consists of a preferably ring-shaped flange with through-openings for fixing means, such as bolts, wherein, in the case of a rigid or rotatable arrangement of the coupling elements, the two flanges on the mutually opposite end faces of the two coupling elements or adjacent to each other Area of the front side of one of the two coupling elements in H nere in order are arranged.
  • the respective coupling element can be fastened to the associated part of the handling device, the functional part or the guide part, in a simple assembly process.
  • the coupling element is permanently connected to the guide or functional part, and the associated connection is released in the context of a repair or dismantling operation.
  • the annular flange of the respective fastening device is larger in diameter than the diameter of the coupling device, ie the setting of the coupling elements in their engagement position. H hereby the Kuppl ungs adopted is protected against damage and a unge sol idle loosening.
  • the access openings of the two adjacent fastening devices each have a recess opening toward the environment, preferably a slot, the width of which permits lateral insertion of the respective bolt as part of the assembly process. In this way, a simple assembly and disassembly of the fastening devices on the guide or functional part of the handling device is ensured.
  • the invention further relates to a handling device with a Kigliedri- gene guide part as the movable handling arm of the device to which a functional part with controllable functional elements, such as a welding gun, a laser, an optical control and / or measuring device and Lackierspritzdüsen, can be arranged, wherein between leadership tion and functional part of an inventive connection system is arranged.
  • a functional part with controllable functional elements such as a welding gun, a laser, an optical control and / or measuring device and Lackierspritzdüsen
  • the embodiment of the connection system according to the invention makes it possible to provide functional parts with activatable functional elements of different types, to each of which a coupling element is arranged, which corresponds to a coupling element associated with the guide part.
  • Fig. 1 shows an embodiment of a handling device with a Constant-lower guide member and a via a
  • Connection system arranged thereon functional part in a perspective view
  • connection system 2a and 2b each show the components of a first embodiment of the connection system according to the invention in the coupled state of the two coupling elements in a perspective view;
  • connection system 3 shows a section through the connection system of Fig. 2b. a plan view of the connection system of Figures 2a to 3 in a mounting position between a functional part and a guide part of a handling device, the arrangement being shown cut in the region of the connection system.
  • 5a and 5b show the components of a second embodiment of the connection system according to the invention in the coupled state of the two coupling elements in a perspective view;
  • FIG. 6 shows a section through the connection system shown in Figure 5b. and FIG. 7 shows a plan view of the connection system from FIGS
  • the guide part 12 comprises a first member 14, a second member 16 and a third member 18, which are each designed as profile carriers of rectangular cross section.
  • the guide member 12 is disposed on a base 20, wherein between the lower first member 14 of the guide member 12 and the base 20, a hinge point with a first hinge part 21 and a second hinge part 22 is formed.
  • the first joint part 21 is rotatable on the base 20 about a vertical vertical axis, the second joint part 22 on the first joint part 21 pivotally mounted about a horizontal axis.
  • a third hinge part 24 is arranged, which allows a pivotability of the second member 16 about a horizontal axis.
  • the pivot axis of the second joint part 22 and the pivot axis of the third joint part 24 are arranged parallel to each other, so that by the two pivot axes for the movement of the second member 16 and the third member 18 a vertical movement plane is specified.
  • no separate hinge part is arranged between the second 16 and third member 18 .
  • the second member 16 has, at its end opposite the third joint part 24, two projecting holding parts 26a, 26b, between which the third member 18 is pivotably arranged.
  • the two holding parts 26a, 26b are each formed as continuations of the respective outer sides of the second member 16 forming profile carrier.
  • the third member 18 as a pivotable component of the guide member 12 has a circular end face on which a rotationally symmetrical functional part 28 is attached via a connection system 30.
  • the functional part 28 On the side opposite the connection system 30, the functional part 28 has two functional elements 32a, 32b in the form of gripping tongs.
  • FIGS. 2a and 2b each show a perspective view of the components of a connection system 30 having a first coupling element 34 and a second coupling element 36.
  • the coupling elements 34, 36 are rotationally symmetrical to a coupling axis and have fastening devices 38, 40.
  • the first coupling device 34 can be connected to the functional part 12 of the handling device via the first fastening device 38, and accordingly the second coupling element 36 can be connected to the guide part 12 via the second fastening device 40.
  • the fastening devices 38, 40 are each designed as an annular flange, in which Chen several, in the embodiment shown six, through openings for bolts 42 for attachment of the respective coupling element 34, 36 are formed.
  • the two annular flanges have the same diameter. However, it is also conceivable to provide annular flanges of different diameters and with a different number of through openings for fixing means, such as bolts 42.
  • the coupling elements 34, 36 are shown in the coupled state, wherein the fastening means 38, 40 are respectively arranged on an end face 45 of the coupling elements 34, 36.
  • the two coupling elements 34, 36 are fixedly connected to one another via a coupling device 44 designed as a union nut.
  • the coupling device 44 is arranged in the axial direction between the two fastening devices 38, 40 and is located on a radial screw outer surface of the composite of the two coupling elements 34, 36 at.
  • the coupling elements 34, 36 each have a rotationally symmetrical base body with openings 46 on the end faces 45, shown in Fig. 2a for a first end face 45 of the first coupling element 34.
  • the openings 46 are formed as circular passage openings in a surface portion of the first end face 45 surrounded by the first fastening device 38. In a corresponding manner are at a second end of the second coupling element 36 openings for insertion of plug and socket parts formed.
  • Fig.2b shows the coupling elements 34, 36 with inserted in these male and female parts.
  • the plug parts shown in FIG. 3 and designated by 50, 52, 54 protrude in the axial direction and each have a line connector 48 at the axially projecting end.
  • a loss-free connection between a supply line guided in the guide or functional part and the associated plug or socket part in the connection system 30 for the formation of the assigned transmission line is ensured in each case via the line connectors 48.
  • the fastening of the associated ends of the bolts 42 on the first end face 45 of the first coupling element 34 in the axial direction are examples of the fastening of the associated ends of the bolts 42 on the first end face 45 of the first coupling element 34 in the axial direction.
  • FIG. 3 shows a section through the connection system 30 from FIG. 2b along a vertical plane predetermined by the coupling or rotation axis.
  • the first coupling element 34 is designed as a coupling plug with a total of six plug parts which are inserted into the base body of the first coupling element 34; in Figure 3, a first connector part 50, a second connector part 52 and a third connector part 54 are shown.
  • the second coupling element 36 is designed as a coupling socket with a total of six socket parts, which are inserted into the main body of the second coupling element 36;
  • FIG. 3 shows a first socket part 56, a second socket part 58 and a third socket part 60.
  • the plug parts 50, 52, 54 each engage in a socket part 56, 58, 60 and thus form transmission lines in each case from a first connection point 46a, 46b, 46c on the first coupling element 34 to a second connection point 62a, 62b, 62c on the second coupling element 36.
  • the first connection point 46a, 46b, 46c on the first coupling element 34 to a second connection point 62a, 62b, 62c on the second coupling element 36.
  • Plug part 50 and the first socket part 56 form an electrical transmission supply line
  • the second plug part 52 and the second socket part 58 a media-carrying transmission line
  • the third plug part 54 and the third socket part 60 also has a media-carrying transmission line.
  • a multiple-multi-media coupling with fluidic and / or electrical transmission lines and associated connection points 46a to 46c, 62a to 62c is formed.
  • the coupling device 44 is arranged captively on the first coupling element 34 and screwed in the coupled state of the two coupling elements 34, 36 with a second coupling element 36 formed on the external thread 63.
  • a stops 64, 64 ' which are arranged on an outer surface of the first coupling element 34 spaced from each other in the axial direction, an axial displacement of the coupling device 44 relative to the first coupling element 34 is predetermined.
  • a remote from the second coupling element 36 and the external thread 63 end portion of the coupling device 44 between the two stops 64, 64 'slidably disposed. 4 shows the connection system 30 from FIGS.
  • the coupling elements 34, 36 abut with the fastening means 38, 40 designed as annular flanges against a first outer side 66 of the functional part 28 or a second outer side 68 of the guide part 12.
  • the first coupling element 34 is attached to the functional part 28 and the second coupling member 36 on the third member 18.
  • the line connectors 48 arranged at the first and second connection points 46a to 46c, 62a to 62c are part of the Plug and socket parts in the guide or functional part 12, 28 led into it.
  • the coupling elements 34, 36 are attached to the guide member 12 before the connection of the functional part 28 on each respective part of the handling device.
  • the connector parts of the first coupling element 34 are guided into the socket parts of the second coupling element 36 and the composite is stabilized and fixed stably via the coupling device 44.
  • a rigid connection is formed between the functional part 28 and the movable guide part 12, so that the functional elements 32 b arranged on the functional part 28 can be securely positioned via the guide part 12.
  • connection system 30 To the transmission lines formed in the connection system 30 are not shown in detail on the line connector 48 in FIG. 4 supply lines, which are arranged in the guide part 1 2 and in the functional part 28 extending connected. Via the supply and transmission lines, the functional elements 32b are controlled and supplied with energy, medium and / or information in accordance with requirements. It is understood that via the conduit paths both a supply from the guide part 1 2 to the functional part 28 and also off or return from the functional part 28 to the guide part 1 2 can be done.
  • the second embodiment of the connection system 30 shown in FIGS. 5a and 5b differs from the first embodiment shown in FIGS. 2a and 2b in that the fastening devices 38, 40 designed as annular flanges are each in the form of a separate component on the respective coupling element 34 , 36 are formed. Furthermore, open slots 70 for positioning the individual bolts 42 on the fastening devices 38, 40 are formed for the respective outer circumference.
  • the two fastening devices 38, 40 are arranged in succession at a small distance a (see Fig. 6) in the axial direction.
  • the coupling device 44 stabilizing and fixing the composite of the first and second coupling elements 34, 36 is arranged at a distance from the fastening devices 38, 40 in the axial direction.
  • connection system 30 From the mounting position of the connection system 30 shown in FIG. 7, it can be clearly seen that the coupling device with the two coupling elements 34, 36 and the coupling device 44 is largely arranged in the interior of the guide part 28.
  • the predetermined by the axial distance a of the two fasteners 38, 40 space between the guide member 12 and the functional part 28 is significantly reduced in the second embodiment of the connection system 30 with respect to the first embodiment, which shows a comparison of Figures 4 and 7 readily.
  • connection system 30 from FIG. 5b comparable to the section of FIG. 3.
  • the second exemplary embodiment of the connection system 30 from FIGS. 5a to 7 is characterized in that a comparatively small axial distance a between the two fastening devices 38, 40 is formed in the mounting position.
  • the arrangement is chosen such that the composite of the formed as a coupling plug first coupling element 34 and the second coupling element formed as a coupling element 36 in large parts on one side of the successively arranged fasteners 38, 40, here on the first fastener 38 and the first coupling element 34 associated side, is arranged.
  • a special feature of the second embodiment of FIG. 6 is a ball bearing 72, which is arranged in the space defined by the axial distance a space between the two fastening means 38, 40 and a rotatable mounting of the second coupling element 36 and the coupled thereto first Coupling element 34 relative to the fastening means 38, 40 ermögl icht.
  • the ball bearing 72 l adheres to the outer circumference of the second coupling element 36, wherein a locking ring 74 in the region of the second fastening means 40 between the ball bearing 72 and the second coupling member 36 is provided.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un système de raccordement (30) conçu pour un processus de transmission d'énergie, de milieu et/ou d'informations entre une pièce fonctionnelle dotée d'éléments fonctionnels pouvant être commandés et une pièce de guidage mobile d'un appareil de manipulation pouvant être commandé, de préférence sous forme d'un robot ou d'un manipulateur, comprenant un dispositif de couplage disposé entre les pièces fonctionnelles et de guidage comprenant au moins deux éléments de couplage (34, 36), l'élément de couplage (34) étant associé à la pièce fonctionnelle et l'autre élément de couplage (36) étant associé à la pièce de guidage ; caractérisé en ce que les éléments de couplage (34, 36) peuvent être couplés entre eux amovibles par l'intermédiaire d'un dispositif d'accouplement (44), de sorte que dans l'état accouplé, les pièces de prise femelle et/ou les pièces de prise mâle guidées dans un élément de couplage (34) pour le processus de transmission s'insèrent dans les pièces de prise mâle ou les pièces de prise femelle pouvant être associées de l'autre élément de couplage (36).
PCT/EP2018/053981 2017-02-28 2018-02-19 Système de raccordement WO2018158097A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017001943.6A DE102017001943A1 (de) 2017-02-28 2017-02-28 Anschlusssystem
DE102017001943.6 2017-02-28

Publications (1)

Publication Number Publication Date
WO2018158097A1 true WO2018158097A1 (fr) 2018-09-07

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Application Number Title Priority Date Filing Date
PCT/EP2018/053981 WO2018158097A1 (fr) 2017-02-28 2018-02-19 Système de raccordement

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DE (1) DE102017001943A1 (fr)
WO (1) WO2018158097A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120135A1 (de) * 2019-07-25 2021-01-28 Beckhoff Automation Gmbh Armmodul für einen modularen Roboterarm eines Industrieroboters
CN114174004A (zh) * 2019-07-25 2022-03-11 倍福自动化有限公司 臂模块、机器人臂和工业机器人
US12109694B2 (en) 2019-07-25 2024-10-08 Beckhoff Automation Gmbh Industrial robot

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US4917619A (en) * 1987-12-26 1990-04-17 Obara Corporation Tool changer for welding robot
DE19517852A1 (de) * 1995-05-16 1995-12-14 Uwe Kochanneck Multiblock Robot
DE19533948A1 (de) * 1994-09-14 1996-05-02 Hans Gamerdinger Energieverteiler für Roboter
US20130340560A1 (en) * 2012-06-05 2013-12-26 TRACLabs, Inc. Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling
DE202014010032U1 (de) 2014-12-18 2016-03-21 Kuka Systems Gmbh Kupplung mit kontaktloser Energie- und Datenübertragung

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US5782571A (en) 1996-10-17 1998-07-21 Cpi Products, L.C. Tool mount for automatic coupling with robotic equipment
JP3951167B2 (ja) 2001-12-13 2007-08-01 ニッタ株式会社 ロータリージョイント
JP5696542B2 (ja) 2011-03-17 2015-04-08 株式会社デンソーウェーブ 多関節ロボット
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ITBS20120145A1 (it) 2012-10-11 2014-04-12 Gimatic Spa Dispositivo di connessione di utensili pneumatici a un manipolatore
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US4917619A (en) * 1987-12-26 1990-04-17 Obara Corporation Tool changer for welding robot
US4883939A (en) * 1988-06-21 1989-11-28 Automatic Tool Control And Management Systems, Inc. Automatic tool changer for workpiece processing machines
DE19533948A1 (de) * 1994-09-14 1996-05-02 Hans Gamerdinger Energieverteiler für Roboter
DE19517852A1 (de) * 1995-05-16 1995-12-14 Uwe Kochanneck Multiblock Robot
US20130340560A1 (en) * 2012-06-05 2013-12-26 TRACLabs, Inc. Apparatus, systems, and methods for reconfigurable robotic manipulator and coupling
DE202014010032U1 (de) 2014-12-18 2016-03-21 Kuka Systems Gmbh Kupplung mit kontaktloser Energie- und Datenübertragung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120135A1 (de) * 2019-07-25 2021-01-28 Beckhoff Automation Gmbh Armmodul für einen modularen Roboterarm eines Industrieroboters
CN114174004A (zh) * 2019-07-25 2022-03-11 倍福自动化有限公司 臂模块、机器人臂和工业机器人
US12109694B2 (en) 2019-07-25 2024-10-08 Beckhoff Automation Gmbh Industrial robot

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